update code

PathTracking/PurePursuit.py

@@ -1,49 +0,0 @@
-#! /usr/bin/python
-# -*- coding: utf-8 -*-
-u"""
-author: Atsushi Sakai
-"""
-import numpy as np
-import math
-import matplotlib.pyplot as plt
-import unicycle_model
-
-
-def main():
-    cx = np.arange(0, 50, 0.1)
-    cy = [math.sin(ix / 5.0) * 5.0 for ix in cx]
-
-    T = 10.0
-    dt = 0.1
-    time = 0.0
-
-    state = unicycle_model.State()
-
-    x = [state.x]
-    y = [state.y]
-    yaw = [state.yaw]
-    v = [state.v]
-
-    while T >= time:
-        ai = 1.0
-        di = 0.01
-        state = unicycle_model.update(state, ai, di)
-
-        x.append(state.x)
-        y.append(state.y)
-        yaw.append(state.yaw)
-        v.append(state.v)
-
-        time = time + dt
-
-    plt.plot(cx, cy, ".r")
-    plt.plot(x, y, "-b")
-    plt.axis("equal")
-    plt.grid(True)
-    plt.show()
-
-    pass
-
-
-if __name__ == '__main__':
-    main()